CN105787864A - Illumination demultiplexing three-dimensional data acquisition method based on quick Hadamard transform - Google Patents
Illumination demultiplexing three-dimensional data acquisition method based on quick Hadamard transform Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T1/00—General purpose image data processing
- G06T1/0007—Image acquisition
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T9/00—Image coding
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
Abstract
The invention discloses an illumination demultiplexing three-dimensional data acquisition method based on quick Hadamard transform. The method comprises the following steps: 1) modeling is carried out on an illumination system CAN synchronous control network, and inter-network communication delay is determined; 2) an illumination sequence configuration file for acquisition is set; 3) a PC sends the configuration file to the main control board of the CAN synchronous control network via a serial port; 4) the main control board sends the configuration file to a slave control board in the network via a CAN bus; 5) the main control board and the slave control board carry out CAN network synchronization according to a synchronization mechanism, the slave control board controls an LED lamp and a camera according to the illumination sequence, and three-dimensional image acquisition is carried out; and 6) and a single-light source image is generated by the acquired image through an illumination demultiplexing algorithm based on quick Hadamard transform for rebuilding of a three-dimensional model. The illumination is adopted for image demultiplexing based on the quick Hadamard transform method, and while the signal-to-noise ratio of the demultiplexing image is ensured, the image processing speed is greatly improved.
Description
Technical field
The invention belongs to technical field of image information processing, relate to a kind of illumination based on fast Hadamard transform and demultiplex three dimensional data collection method and system.
Background technology
Along with the development of 3-D technology, three-dimensional objects is not present in our production and life all the time.Three-dimensional image acquisition is the first step of three-dimensional reconstruction, is also most important important.Dynamically light field acquisition system can catch large-scale or multiple moving target in the different surface reflectance properties of direction of illumination, movement locus and ambient lighting information on a large scale, reproduces the reliable premise guarantee of offer for realizing three-dimensional scenic sense of reality under any illumination condition.Therefore, existing many research institutions devise three dimensional data collection system with university in the world.But in carrying out the darkening process according to shooting, due to reasons such as place scope are big, quantity of light source is many, it is impossible to catch correctly, light field image clearly.
Such as, 1996, the Levoy of Stanford University proposed the light field rendering system using video camera array to gather image；2000, the Debevec of University of California take into account the illumination impact on rebuilding 3-D view, constructs the darkening gathered for face and shines static acquisition system；2006, Debevec further improve acquisition system, it is achieved that dynamic darkening, according to gathering, replaces high-speed camera with video camera array, greatly reduces the constraint to acquisition target；2008, application number be 200810104943.3 Chinese invention patent disclose a kind of variation illumination dynamic scene three-dimensional capturing system, by organizing the variation illumination asynchronous collecting of multi-visual angle video stream, it is achieved that the various visual angles dynamic acquisition of darkening photograph more；2013, application number be 201310025389.0 Chinese patent disclose a kind of high s/n ratio darkening irradiation field multiplexing acquisition method, by illumination and aperture are encoded simultaneously, obtain the data of illumination and visual angle multiplexing, attribute difference further according to light field, illumination and noise is analyzed, and finally gives darkening irradiation field data.
Above-mentioned five system and methods are all for three-dimensional image acquisition, its defect part essentially consists in the following aspects: 1. above-mentioned first systematic obtains the information gathering object all directions by video camera array, but but have ignored the illumination variation impact on image acquisition.If light encounters on propagation path and blocks, light intensity will be made to occur, increase the complexity of 3-D view synthesis；2. above-mentioned second system, although it is contemplated that the illumination impact on image, owing to being static acquisition system, acquisition target must transfixion, and camera gather the fixing of visual angle, also the image acquisition of whole system is caused very big restriction；3. above-mentioned 3rd system, although employ video camera array and instead of and tell video camera, but it is caused very big restriction by the collection of cycle movement by system；4. above-mentioned 4th patent, achieve the various visual angles dynamic acquisition of darkening photograph, owing to this system controllable light source number is less, causing the error of heavily illumination, synchronization can only gather one group of light source, and the utilization rate of light source is low, light resources is caused great waste, being additionally, since the restriction of system, this acquisition system is only used for single goal collection；5. above-mentioned 5th patent, although proposing effective method to improving signal noise ratio (snr) of image, however it is necessary that and light field signal, light field component are calculated with noise, simultaneously it is contemplated that the material of different system is calculated again, last successive ignition calculates steady noise, this superposition of data needing simultaneously to calculate light field, illumination and noise, amount of calculation is huge, implements relatively complicated in systems in practice.
Summary of the invention
It is an object of the invention to provide that a kind of collection effect is good, signal noise ratio (snr) of image is high, demultiplex the fireballing illumination based on fast Hadamard transform and demultiplex three dimensional data collection method and system.
For solving above-mentioned technical problem, the technical solution used in the present invention is:
A kind of illumination based on fast Hadamard transform demultiplexes three dimensional data collection method, and it comprises the following steps that
1) illumination system CAN Synchronization Control network is carried out system modelling, determine inter-net communication time delay by emulating；
2) according to simulation modeling result, in conjunction with Hadamard transform principle, illumination sequence configuration file used by control system during collection is write；
3) illumination sequence configuration file is sent to the master board of CAN Synchronization Control network by PC by serial ports；
4) master board receives after configuration file completes, by information Decoding Analysis, again through CAN to each in network from panel broadcast transmission configuration file；
5) the CAN frame data identical with oneself numbering are received from panel, each receives from panel after file, signal is sent to master board, after master & slave control buttress carries out Network Synchronization according to Software simulation calculation gained network delay formulation synchronization mechanism, control LED and photographing unit from panel according to the illumination sequence configuration file, carry out 3-D view illumination multiplexing collection；
6) image collected is stored in acquisition server, and image is generated algorithmically by single light source image through demultiplexing based on the illumination of fast Hadamard transform by PC again, for reconstructing three-dimensional model, to improve signal to noise ratio and the decoding efficiency of demultiplexed image.
Further improvement as technique scheme:
Described step 1) in illumination system CAN Synchronization Control network system emulation determine that the detailed step of inter-net communication time delay includes: according to the CAN carry node upper limit and hadamard matrix principle, build by 1 master board, 200 control network (WSN) emulation system from the CAN of panel and 2000 LED compositions, receive, to it, the network delay time needed by each broadcast configuration file received from master board transmission from panel in analogue system, each completing from panel receives the network delay time receiving all acknowledgement frames needs to master board transmission acknowledgement frame to master board, network software simulation system is controlled finally by software CAN, determine the overall network delay time of network service between master & slave control plate.
Described step 2) in when writing collection according to simulation modeling result and Hadamard transform principle the detailed step of illumination sequence configuration file used by control system include: determine illumination control group number with controlled from panel according to hadamard matrix principle, build the illumination multiplexing based on hadamard matrix and control square formation, often organize the bright dark sequence of LED according to square formation message composition illumination configuration file setting each moment.
Described step 6) image that collects demultiplexes, through the illumination of fast Hadamard transform, the detailed step being generated algorithmically by single light source image and includes: owing to the illumination mode of illumination multiplexing makes light field image must carry out demultiplexing and just can obtain single light source image, for reconstructing three-dimensional model, the single light source image for reconstructing three-dimensional model is generated for light image demultiplexing according to hadamard matrix characteristic Design fast Hadamard transform algorithm, fast Hadamard transform can when ensureing signal noise ratio (snr) of image compared to common Hadamard transform algorithm, significantly promote the efficiency of image demultiplexing.
nullA kind of illumination based on fast Hadamard transform demultiplexes three dimensional data collection system，Including the three dimensional data collection system for image acquisition and process，Described three dimensional data collection system includes the PC sending and gathering image procossing for illumination configuration file、Control unit、Lighting module for illumination multiplexing、For gathering the acquisition module of illumination multiplexing image and for storing the acquisition server gathering image，Acquisition module、Lighting module is connected respectively at control unit，Described acquisition server is connected with acquisition module，Described PC is connected with control unit by serial ports，Described control unit include for receive and dispatch configuration file and to from panel send control signal main control module、For control illuminator illumination mode and image acquisition from controlling module，Described main control module is connected by CAN with from control module.
Further improvement as technique scheme:
nullUser sends illumination sequence configuration file by serial ports to the main control module in control unit by PC，Main control module broadcasts illumination multiplex configuration information by CAN to from control module after finishing receiving configuration file，From controlling after module finishes receiving the CAN data message that device number is identical with oneself to main control module transmission acknowledgement frame，Main control module receives all after the acknowledgement frame of control module transmission，Network Synchronization is carried out by synchronization mechanism，Transmission starts to gather signal，Image acquisition is carried out according to profile information control lighting module according to illumination sequence lightening LED lamp and acquisition module from controlling module，After image acquisition，The image collected is stored acquisition server by acquisition module，PC extracts the image collected from acquisition server and is generated algorithmically by single light source image by demultiplexing based on the image of fast Hadamard transform，For reconstructing three-dimensional model.
Beneficial effects of the present invention:
1), problem that picture noise big low, under-exposed for single light source imaging radiation brightness, devises a kind of change illumination control system based on illumination multiplexing, and the principle of Hadamard transform is creatively applied to the darkening control according to sequence.Increase the quantity of light source in shooting moment, improve light source utilization rate, the single light source picture noise obtained after reducing demultiplexing, improves light field image quality.
2) intensive for light source, control complicated problem, devise a kind of network communication protocol based on CAN, node will be controlled up to 100 and form large-scale CAN network, control the sequence flicker that the illumination variation of more than 200 group LED specifies according to hadamard matrix, it is ensured that network becomes the correctness of illumination mode, real-time and synchronicity.
3) drainage pattern of illumination multiplexing makes light field image must carry out demultiplexing and just can obtain single light source image, for reconstructing three-dimensional model.Owing to direction of illumination also can reach tens up to hundreds of group, camera, therefore to reduce the expense that demultiplexing brings, can the feature of factorization according to hadamard matrix, a kind of rapid image demultiplexing algorithm is proposed, complexity is reduced to Nlog2N by N2, improves the operation efficiency of light field image demultiplexing.
Accompanying drawing explanation
Fig. 1 is the frame structure schematic diagram of present system；
Fig. 2 be present system at 15 groups based on the lighting unit under Hadamard transform matrix sequence and collecting unit Synchronization Control sequential chart；
Fig. 3 is present system main control module workflow schematic diagram；
Fig. 4 is that present system is from controlling module workflow schematic diagram；
Fig. 5 is the present system image demultiplexing algorithm workflow schematic diagram based on fast Hadamard transform；
Marginal data: 1,3D acquisition system；11, PC；12, control unit；121, main control module；122, from controlling module；13, lighting module；14, acquisition module；15, acquisition server.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
Present system is as follows based on the enforcement step of the illumination demultiplexing three dimensional data collection method of fast Hadamard transform:
1) illumination system CAN Synchronization Control network is carried out system modelling, determine inter-net communication time delay by emulating；
2) according to simulation modeling result, in conjunction with Hadamard transform principle, illumination sequence configuration file used by control system during collection is write；
3) illumination sequence configuration file is sent to the master board of CAN Synchronization Control network by PC by serial ports；
4) master board receives after configuration file completes, by information Decoding Analysis, again through CAN to each in network from panel broadcast transmission configuration file；
5) the CAN frame data identical with oneself numbering are received from panel, each receives from panel after file, signal is sent to master board, after master & slave control buttress carries out Network Synchronization according to Software simulation calculation gained network delay formulation synchronization mechanism, control LED and photographing unit from panel according to the illumination sequence configuration file, carry out 3-D view illumination multiplexing collection；
6), in the acquisition server of the image storage collected, image is generated algorithmically by single light source image through demultiplexing based on the illumination of fast Hadamard transform by PC again, for reconstructing three-dimensional model, to improve signal to noise ratio and the decoding efficiency of demultiplexed image.
Step 1) in illumination system CAN Synchronization Control network system emulation determine that the detailed step of inter-net communication time delay includes: according to the CAN carry node upper limit and hadamard matrix principle, build by 1 master board, 200 control network (WSN) emulation system from the CAN of panel and 2000 LED compositions, receive, to it, the network delay time needed by each broadcast configuration file received from master board transmission from panel in analogue system, each completing from panel receives the network delay time receiving all acknowledgement frames needs to master board transmission acknowledgement frame to master board, network software simulation system is controlled finally by software CAN, determine the overall network delay time of network service between master & slave control plate.
Step 2) in when writing collection according to simulation modeling result and Hadamard transform principle the detailed step of illumination sequence configuration file used by control system include: determine illumination control group number with controlled from panel according to hadamard matrix principle, build the illumination multiplexing based on hadamard matrix and control square formation.Hadamard matrix, by 1 and-1 square formation formed, in systems, creates a matrix S(2n-1)×(2n-1).System uses 0 and 1 to replace-1 and 1.0 represents LED " bright ", and 1 represents LED " secretly ".When shooting every time, it is ensured that the light source having half is " bright ", and half is " secretly ".The bright dark sequence of LED is often organized according to square formation message composition illumination configuration file setting each moment.
nullAs shown in Figure 1，Present system includes the 3D acquisition system 1 for image acquisition and process，Described 3D acquisition system includes the PC 11 sending and gathering image procossing for illumination configuration file、Control unit 12、Lighting module 13 for illumination multiplexing、For gathering the acquisition module 14 of illumination multiplexing image and for storing the acquisition server 15 gathering image，Acquisition module 14、Lighting module 13 is connected with control unit 12 respectively，Described acquisition server 15 is connected with acquisition module 14，Described PC 11 is connected with control unit 12 by serial ports，Described control unit 12 include for receive and dispatch configuration file and to from panel send control signal main control module 121、For control illuminator illumination mode and image acquisition from controlling module 122，Described main control module 121 is connected by CAN with from control module 122.
As in figure 2 it is shown, present system is based on the illumination demultiplexing 3D acquisition system of fast Hadamard transform, mode shown in figure carries out illumination multiplexing image acquisition.Each moment controls lighting module 13 according to hadamard matrix principle and carries out the collection of illumination multiplexing.When signal trailing edge, system controls acquisition module 14 and gathers image, gathers and is stored in acquisition memory 15 by the image of collection after terminating, waits that next step processes.
As shown in Figure 3, present system demultiplexes 3D acquisition system based on the illumination of fast Hadamard transform, when system brings into operation, main control module 121 initializes, and user uses PC 11 to send illumination sequence configuration file by serial ports to the main control module 121 in control unit 12.Main control module 121 judgement resolves the configuration information received, and is encapsulated into CAN Frame after finishing receiving configuration file, broadcasts illumination multiplex configuration information by CAN to from control module 122.After all finishing receiving configuration information from control module 122, main control module 121 receives all after the acknowledgement frame of panel 122 transmission, can send synchronizing signal.After PC 11 sends the order starting to gather image, main control module 121 controls to complete order from control module 122.And judge from controlling whether module 122 completes, then perform next command, after sending, until PC, the order stopping gathering, main control template 121 controls to terminate collection from control module 122, and main control module 121 has also controlled.
As shown in Figure 4, present system demultiplexes 3D acquisition system based on the illumination of fast Hadamard transform, when system brings into operation, initializes from controlling module 122.When main control module 121 sends broadcast message to CAN network, finish receiving, from controlling module 122, the CAN data message that device number is identical with oneself, and carry out data parsing, after being disposed, send acknowledgement frame to main control module 121.Wait after receiving the order starting to gather image that main control module 121 sends, control lighting module 13 according to the configuration information being previously received and acquisition module 14 carries out illumination multiplexing collection according to mode as shown in Figure 2.Execution order is sent completely acknowledgement frame to main control module 121 after terminating, and waits that main control module 121 sends next command.If receiving stopping to gather image command, then closing lighting module 13 and acquisition module 14 from control module 122, terminating to gather.
Present system demultiplexes 3D acquisition system based on the illumination of fast Hadamard transform, owing to the illumination mode of illumination multiplexing makes light field image must carry out demultiplexing and just can obtain single light source image, for 3D Model Reconstruction.After collection image completes, PC 11 can take out the image collected from acquisition server 15.Formula is used according to hadamard matrixCreate a S-1Matrix is for image demultiplexing.The single light source image for 3D Model Reconstruction is generated for light image demultiplexing according to hadamard matrix characteristic Design fast Hadamard transform algorithm.Concrete steps, as it is shown in figure 5, first load image, calculate the length of image and wide and bit depth.It is the information of brightness of image aspect owing to image master is to be processed, so image is transformed into HSL color space from RGB color, starts image demultiplexing.Image demultiplexing adopts the algorithm based on fast Hadamard transform, when ensureing signal noise ratio (snr) of image, significantly promotes the efficiency of image demultiplexing.Finally the image after demultiplexing is returned RGB color by HSL color space conversion, generate single light source image, rebuild for 3D rendering.
The foregoing is only the preferred embodiment of the present invention, protection scope of the present invention is not limited in above-mentioned embodiment, and every technical scheme belonging to the principle of the invention belongs to protection scope of the present invention.For a person skilled in the art, the some improvements and modifications carried out under the premise without departing from principles of the invention, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (5)
1. the illumination based on fast Hadamard transform demultiplexes three dimensional data collection method, it is characterised in that the method comprises the steps:
1) illumination system CAN Synchronization Control network is carried out system modelling, determine inter-net communication time delay by emulating；
2) according to simulation modeling result, in conjunction with Hadamard transform principle, illumination sequence configuration file used by control system during collection is write；
3) illumination sequence configuration file is sent to the master board of CAN Synchronization Control network by PC by serial ports；
4) master board receives after configuration file completes, by information Decoding Analysis, again through CAN to each in network from panel broadcast transmission configuration file；
5) the CAN frame data identical with oneself numbering are received from panel, each receives from panel after file, signal is sent to master board, after master & slave control buttress carries out Network Synchronization according to Software simulation calculation gained network delay formulation synchronization mechanism, control LED and photographing unit from panel according to the illumination sequence configuration file, carry out 3D rendering illumination multiplexing collection；
6) image collected is stored in acquisition server, and image is generated algorithmically by single light source image through demultiplexing based on the illumination of fast Hadamard transform by PC again, for 3D Model Reconstruction, to improve signal to noise ratio and the decoding efficiency of demultiplexed image.
2. a kind of illumination based on fast Hadamard transform according to claim 1 demultiplexes three dimensional data collection method, it is characterized in that, described step 1) is specifically: according to the CAN carry node upper limit and hadamard matrix principle, build by 1 master board, 200 control network (WSN) emulation system from the CAN of panel and 2000 LED compositions, receive, to it, the network delay time needed by each broadcast configuration file received from master board transmission from panel in analogue system, each completing from panel receives the network delay time receiving all acknowledgement frames needs to master board transmission acknowledgement frame to master board, network software simulation system is controlled finally by software CAN, determine the overall network delay time of network service between master & slave control plate.
3. the illumination based on fast Hadamard transform according to claim 1 and 2 demultiplexes 3D acquisition method, it is characterized in that, described step 2) specifically: determine illumination control group number with controlled from panel according to hadamard matrix principle, build the illumination multiplexing based on hadamard matrix and control square formation, often organize the bright dark sequence of LED according to square formation message composition illumination configuration file setting each moment.
null4. the illumination based on fast Hadamard transform demultiplexes three dimensional data collection system，It is characterized in that: include the 3D acquisition system for image acquisition and process，Described 3D acquisition system includes the PC (11) sending and gathering image procossing for illumination configuration file、Control unit (12)、Lighting module (13) for illumination multiplexing、For gathering the acquisition module (14) of illumination multiplexing image and for storing the acquisition server (15) gathering image，Acquisition module (14)、Lighting module (13) is connected with control unit (12) respectively，Described acquisition server (15) is connected with acquisition module (14)，Described PC (11) is connected with control unit (12) by serial ports，Described control unit (12) include for receive and dispatch configuration file and to from panel send control signal main control module (121)、For control illuminator illumination mode and image acquisition from controlling module (122)，Described main control module (121) is connected by CAN with from control module (122).
null5. a kind of illumination based on fast Hadamard transform according to claim 4 demultiplexes three dimensional data collection system，It is characterized in that: user uses PC (11) to send illumination sequence configuration file by serial ports to the main control module (121) in control unit (12)，Main control module (121) broadcasts illumination multiplex configuration information by CAN to from control module (122) after finishing receiving configuration file，From controlling after module (122) finishes receiving the CAN data message that device number is identical with oneself to main control module (121) transmission acknowledgement frame，Main control module (121) receives all from after controlling module (122) acknowledgement frame that sends，Network Synchronization is carried out by synchronization mechanism，Transmission starts to gather signal，(122) control lighting module (13) from control module according to profile information and carry out image acquisition according to illumination sequence lightening LED lamp and acquisition module (14)，After image acquisition，The image collected is stored acquisition server (15) by acquisition module (14)，PC (11) extracts the image collected from acquisition server (15) and is generated algorithmically by single light source image by demultiplexing based on the image of fast Hadamard transform，For 3D Model Reconstruction.
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